the only additions are power to the potentiometer and the SCL and SDI/SDO lines connecting to pins 13 and 11 respectively
when running the IMU alone i get a response like this
G: -0.63, -243.67, -244.16
A: -1.99, -1.27, 2.00
M: 1.86, -1.89, -1.95
Heading: 44.50
Pitch, Roll: -20.73, -11.93
after i connect the SCL and SDI/SDO lines to the potentiometer i get a response like this
G: -0.01, -0.01, -0.01
A: -0.00, -0.00, -0.00
M: -0.00, -0.00, -0.00
Heading: -45.00
Pitch, Roll: -45.00, -45.00
here is the script i am using, I have not yet even included any pieces of code that interact with the potentiometer i have only connected the pins
// The SFE_LSM9DS0 requires both the SPI and Wire libraries.
// Unfortunately, you'll need to include both in the Arduino
// sketch, before including the SFE_LSM9DS0 library.
#include <SPI.h> // Included for SFE_LSM9DS0 library
#include <Wire.h>
#include <SFE_LSM9DS0.h>
/*
///////////////////////
// Example I2C Setup //
///////////////////////
// Comment out this section if you're using SPI
// SDO_XM and SDO_G are both grounded, so our addresses are:
#define LSM9DS0_XM 0x1D // Would be 0x1E if SDO_XM is LOW
#define LSM9DS0_G 0x6B // Would be 0x6A if SDO_G is LOW
// Create an instance of the LSM9DS0 library called `dof` the
// parameters for this constructor are:
// [SPI or I2C Mode declaration],[gyro I2C address],[xm I2C add.]
LSM9DS0 dof(MODE_I2C, LSM9DS0_G, LSM9DS0_XM);
*/
///////////////////////
// Example SPI Setup //
///////////////////////
// Uncomment this section if you're using SPI
#define LSM9DS0_CSG 9 // CSG connected to Arduino pin 9
#define LSM9DS0_CSXM 10 // CSXM connected to Arduino pin 10
LSM9DS0 dof(MODE_SPI, LSM9DS0_CSG, LSM9DS0_CSXM);
const int CSG =9;
const int CSXM =10;
const int slaveSelectPin = 6;
// Do you want to print calculated values or raw ADC ticks read
// from the sensor? Comment out ONE of the two #defines below
// to pick:
#define PRINT_CALCULATED
//#define PRINT_RAW
#define PRINT_SPEED 500 // 500 ms between prints
void setup()
{
Serial.begin(9600); // Start serial at 115200 bps
// Use the begin() function to initialize the LSM9DS0 library.
// You can either call it with no parameters (the easy way):
uint16_t status = dof.begin();
// Or call it with declarations for sensor scales and data rates:
//uint16_t status = dof.begin(dof.G_SCALE_2000DPS,
// dof.A_SCALE_6G, dof.M_SCALE_2GS);
// begin() returns a 16-bit value which includes both the gyro
// and accelerometers WHO_AM_I response. You can check this to
// make sure communication was successful.
Serial.print("LSM9DS0 WHO_AM_I's returned: 0x");
Serial.println(status, HEX);
Serial.println("Should be 0x49D4");
Serial.println();
}
void loop()
{
printGyro(); // Print "G: gx, gy, gz"
printAccel(); // Print "A: ax, ay, az"
printMag(); // Print "M: mx, my, mz"
// Print the heading and orientation for fun!
printHeading((float) dof.mx, (float) dof.my);
printOrientation(dof.calcAccel(dof.ax), dof.calcAccel(dof.ay),
dof.calcAccel(dof.az));
Serial.println();
delay(PRINT_SPEED);
}
void printGyro()
{
// To read from the gyroscope, you must first call the
// readGyro() function. When this exits, it'll update the
// gx, gy, and gz variables with the most current data.
dof.readGyro();
// Now we can use the gx, gy, and gz variables as we please.
// Either print them as raw ADC values, or calculated in DPS.
Serial.print("G: ");
#ifdef PRINT_CALCULATED
// If you want to print calculated values, you can use the
// calcGyro helper function to convert a raw ADC value to
// DPS. Give the function the value that you want to convert.
Serial.print(dof.calcGyro(dof.gx), 2);
Serial.print(", ");
Serial.print(dof.calcGyro(dof.gy), 2);
Serial.print(", ");
Serial.println(dof.calcGyro(dof.gz), 2);
#elif defined PRINT_RAW
Serial.print(dof.gx);
Serial.print(", ");
Serial.print(dof.gy);
Serial.print(", ");
Serial.println(dof.gz);
#endif
}
void printAccel()
{
// To read from the accelerometer, you must first call the
// readAccel() function. When this exits, it'll update the
// ax, ay, and az variables with the most current data.
dof.readAccel();
// Now we can use the ax, ay, and az variables as we please.
// Either print them as raw ADC values, or calculated in g's.
Serial.print("A: ");
#ifdef PRINT_CALCULATED
// If you want to print calculated values, you can use the
// calcAccel helper function to convert a raw ADC value to
// g's. Give the function the value that you want to convert.
Serial.print(dof.calcAccel(dof.ax), 2);
Serial.print(", ");
Serial.print(dof.calcAccel(dof.ay), 2);
Serial.print(", ");
Serial.println(dof.calcAccel(dof.az), 2);
#elif defined PRINT_RAW
Serial.print(dof.ax);
Serial.print(", ");
Serial.print(dof.ay);
Serial.print(", ");
Serial.println(dof.az);
#endif
}
void printMag()
{
// To read from the magnetometer, you must first call the
// readMag() function. When this exits, it'll update the
// mx, my, and mz variables with the most current data.
dof.readMag();
// Now we can use the mx, my, and mz variables as we please.
// Either print them as raw ADC values, or calculated in Gauss.
Serial.print("M: ");
#ifdef PRINT_CALCULATED
// If you want to print calculated values, you can use the
// calcMag helper function to convert a raw ADC value to
// Gauss. Give the function the value that you want to convert.
Serial.print(dof.calcMag(dof.mx), 2);
Serial.print(", ");
Serial.print(dof.calcMag(dof.my), 2);
Serial.print(", ");
Serial.println(dof.calcMag(dof.mz), 2);
#elif defined PRINT_RAW
Serial.print(dof.mx);
Serial.print(", ");
Serial.print(dof.my);
Serial.print(", ");
Serial.println(dof.mz);
#endif
}
// Here's a fun function to calculate your heading, using Earth's
// magnetic field.
// It only works if the sensor is flat (z-axis normal to Earth).
// Additionally, you may need to add or subtract a declination
// angle to get the heading normalized to your location.
// See: http://www.ngdc.noaa.gov/geomag/declination.shtml
void printHeading(float hx, float hy)
{
float heading;
if (hy > 0)
{
heading = 90 - (atan(hx / hy) * (180 / PI));
}
else if (hy < 0)
{
heading = - (atan(hx / hy) * (180 / PI));
}
else // hy = 0
{
if (hx < 0) heading = 180;
else heading = 0;
}
Serial.print("Heading: ");
Serial.println(heading, 2);
}
// Another fun function that does calculations based on the
// acclerometer data. This function will print your LSM9DS0's
// orientation -- it's roll and pitch angles.
void printOrientation(float x, float y, float z)
{
float pitch, roll;
pitch = atan2(x, sqrt(y * y) + (z * z));
roll = atan2(y, sqrt(x * x) + (z * z));
pitch *= 180.0 / PI;
roll *= 180.0 / PI;
Serial.print("Pitch, Roll: ");
Serial.print(pitch, 2);
Serial.print(", ");
Serial.println(roll, 2);
}
